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CN116999185A - Respiration tracking method, device, system and computer storage medium - Google Patents

Respiration tracking method, device, system and computer storage medium Download PDF

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Publication number
CN116999185A
CN116999185A CN202310104745.1A CN202310104745A CN116999185A CN 116999185 A CN116999185 A CN 116999185A CN 202310104745 A CN202310104745 A CN 202310104745A CN 116999185 A CN116999185 A CN 116999185A
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current
respiratory
marker
data
tracking
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邹嵘
陈东阳
罗喜平
李卓
崔枭
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Shenzhen Zhenshi Medical Equipment Co ltd
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Shenzhen Zhenshi Medical Equipment Co ltd
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Publication of CN116999185A publication Critical patent/CN116999185A/en
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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H10/00—ICT specially adapted for the handling or processing of patient-related medical or healthcare data
    • G16H10/60—ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person

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Abstract

A breath tracking method, apparatus, system, and computer storage medium, wherein the breath tracking method comprises: acquiring position information of a tracking marker positioned on a human body; fitting a respiratory motion curve of the human body according to the acquired position information of the tracking marker.

Description

Respiration tracking method, device, system and computer storage medium
Technical Field
The present invention relates to medical technology, and more particularly, to a respiratory tracking method, apparatus, system, and computer storage medium.
Background
In the interventional operation treatment process, the difficulty of realizing accurate treatment of some target areas which are displaced and changed along with the respiratory movement of the human body is great. Because lesions located in the chest and abdomen change position with respiratory motion. Therefore, in the operation process, because the respiratory problem easily causes unnecessary damage to normal tissues, the real-time tracking of respiratory motion during operation treatment is an important problem to be solved in the clinical treatment field.
For example, in percutaneous interventional surgery, a patient is often required to hold breath for multiple times, usually one breath during scanning CT, and a doctor is required to hold breath for one time during surgery, but in current clinic, the situation that the breath of the patient is inconsistent or how the patient holds breath is not known is often faced, so if the respiratory state of the patient can be tracked in real time and the respiratory information of the patient is presented to the doctor and the patient himself, not only the surgery accuracy can be improved, but also the patient can be better diagnosed and treated.
At present, in order to solve the respiratory problem of patients in medical clinic, two types of modes are generally adopted, one type is that doctors guide the patients to perform respiratory training, but the method is laborious and time-consuming, and the patients can not be matched. The second mode is to adopt respiration gating, for example, a binding belt is used for binding on the chest of a patient, and the pressure change caused by respiration is monitored through a pressure-sensitive sensor to display the change of respiratory motion, but the method has low precision, and meanwhile, due to the existence of the binding belt, part of operation treatment areas cannot be used; or by monitoring the inspiratory volume of the patient to track the patient's respiration, the method is also less accurate and relatively cumbersome to operate.
Disclosure of Invention
The application provides a breath tracking method and a breath tracking system, which can accurately and rapidly realize the breath tracking of a patient.
The application provides a breath tracking method, comprising the following steps:
acquiring position information of a tracking marker positioned on a human body;
fitting a respiratory motion curve of the human body according to the acquired position information of the tracking marker.
According to the breath tracking method provided by the application, the tracking marker placed on the human body is utilized to realize fitting of the human body breath motion curve, and the tracking marker can move along with the breath of the human body, so that the breath position information of the human body at each moment can be accurately obtained, and the breath tracking of a patient can be accurately and rapidly realized.
In an exemplary embodiment, the fitting the respiratory motion curve of the human body according to the acquired position information of the marker includes:
determining the current respiratory amplitude of the human body according to the acquired position information of the tracking marker;
fitting a respiratory motion curve of the human body according to the determined respiratory amplitude of the current human body.
According to the embodiment, the three-dimensional position information of the marker is used for expressing the one-dimensional breathing amplitude value of the three-dimensional position information of each moment of a human body, and then the fitting human body breathing curve of the breathing amplitude value is obtained, so that the breathing motion curve is more visual.
In an exemplary embodiment, the determining the current respiration amplitude of the human body according to the acquired position information of the marker includes:
collecting a data set of each marker sphere on the marker over a predetermined period;
determining a current displacement of each marker ball from the collected data set;
the current displacement comprises a current respiratory displacement, a current maximum respiratory displacement and a current minimum respiratory displacement;
and determining the breathing amplitude of the current human body according to the determined current displacement of each marking ball.
According to the embodiment, the data of the marker ball preset period section on the tracking marker is selected to participate in calculation, so that the problem of false identification in actual detection can be avoided. In addition, since the respiration amplitude is related to the position change of the tracking marker on the human body, the respiration amplitude can be obtained by determining the current position change degree of the tracking marker, and the respiration amplitude can be limited in a certain range, for example, between 0 and 1 by limiting the current maximum respiration displacement and the current minimum respiration displacement to perform normalization processing, so that the image display can be facilitated.
In an exemplary embodiment, the determining the current displacement of each marker ball from the collected data set of each marker ball includes:
fitting a base spatial line based on a predetermined number of consecutive position data in the collected data set for each marker ball;
determining projection points of each position data in the corresponding data set of each marking ball on the straight line of the basic space, and defining the projection points as basic projection points of each position data;
determining a projection point of the reference position point on the straight line of the basic space, and defining a basic reference projection point of the reference position point;
according to the determined basic projection points of each position data and basic reference projection points of the reference position points, obtaining the distance between the basic projection points of each position data and the basic reference projection points of the reference position points, and positioning the distance as the relative projection distance of each position data;
and determining the current displacement of each marking ball according to the obtained relative projection distance of each position data.
Since the position data of each marker ball on the tracking marker is three-dimensional space data, the three-dimensional data is converted into one-dimensional data by fitting a basic space straight line on which a predetermined number of position data of each marker ball is projected in this embodiment. In addition, according to the embodiment, the relative projection distance of each position data is obtained by setting the basic reference projection point of the reference position point, so that normalization calculation can be facilitated. Because the reference position points are the position points on the reference marker, the reference marker is fixed at a position with a certain distance from the tracking marker, for example, the lower part of a bed body on which a patient lies, and the directions of all the points on the tracking marker relative to the reference position point values are the same, thereby being convenient for the calculation processing of data. The projection distance calculation of the tracking marker changes the spatial data (three dimensions) of the data points into distance values (one dimension).
In one exemplary embodiment, the determining of the current displacement of each marker ball based on the relative projected distance of each of the obtained position data,
comprising the following steps: determining a projection point of the current position data on a basic space straight line, and defining the distance from the projection point of the reference position point on the basic space straight line as a basic relative projection distance of the current position data; judging whether the basic relative projection distance of the current position data is within a preset distance range or not;
fitting a current spatial straight line according to a predetermined number of continuous position data in the data set of each marker ball when the distance is within the predetermined distance range; the predetermined number of position data includes current position data of each marker ball;
the current respiratory displacement is: the projection point of the current position data on the current space straight line is distant from the projection point of the reference position point on the current fitting straight line;
the current maximum respiratory displacement is: the maximum distance from the reference position point in the distance of the projection point on the current fitting straight line in all the data in the data set;
the current minimum respiratory displacement is: the minimum distance from the projection point of the reference position point to the projection point on the current fitting straight line in all data in the data set;
When not within the predetermined distance range, the current respiratory displacement is: the projection point of the current position data on the basic space straight line is distant from the projection point of the reference position point on the basic space straight line;
the current maximum respiratory displacement is: the maximum base relative projection distance among the base relative projection distances of all the data;
the current minimum respiratory displacement is: the minimum base relative projection distance among the base relative projection distances of all the data.
In the embodiment, two different current maximum and minimum respiratory displacements are obtained by setting a preset range, and the common respiratory state and the special respiratory state are identified, so that a more accurate respiratory curve can be fitted. In general, a normal breathing graph resembles a normal sinusoidal waveform, and the breathing curve amplitude in a particular state shows that a predetermined threshold, such as a range of 0-1, is exceeded, and if continued in this state for a period of time, it will be determined that it is no longer a normal breath, and will be recalculated.
In an exemplary embodiment, the method further comprises: when the basic relative projection distance of the current position data is within a preset distance range, taking the current space straight line as a basic space straight line of the data at the next moment;
When the basic relative projection distance of the current position data is not in the preset distance range, the basic space straight line is used as the basic space straight line of the data at the next moment, so that the situation that the fitted curve is distorted in display can be prevented.
In one exemplary embodiment, the predetermined distance range is determined from a smallest of the base relative projection distances of all the data and a largest of the base relative projection distances of all the data. The preset range in the embodiment is determined by the maximum and minimum basic relative projection distances, so that the normalization processing of the data can be facilitated.
In one exemplary embodiment, the predetermined distance range is greater than or equal to a minimum base relative projection distance of the base relative projection distances of all the data and less than or equal to a maximum base relative projection distance of the base relative projection distances of all the data.
In an exemplary embodiment, the base spatial line and the current spatial line are lines closest to each position data in the corresponding continuous predetermined number of data, so as to maintain accuracy of the dimension-converted data.
In an exemplary embodiment, the method further comprises: collecting a data set of each marking ball in a predetermined period of the human body;
determining a respiration state of the human body based on a predetermined number of position data in succession in the collected data set for each marker ball; the respiratory state includes a rolling state and a breath-hold state. In the embodiment, the breathing state of the human body is judged through the numerical change of the fitting curve so as to be conveniently displayed to an operator.
In an exemplary embodiment, the determining the breathing state of the human body according to the collected continuous predetermined number of position data in the data set of each marker ball includes:
determining an average value of the predetermined number of position data of all the marker balls, a difference value between each position data and the average value, and a mean value of the difference values or a standard deviation of the difference values;
the standard deviation of the difference value is obtained according to the difference value and the average value of the difference value;
when the difference mean value or the difference standard deviation of the preset number of position data of at least one marking ball is larger than a preset threshold value, determining that the breathing state of the human body is a fluctuation state;
and when the difference mean value or the difference standard deviation of the preset number of position data of at least one marking ball is smaller than or equal to a preset threshold value, determining that the breathing state of the human body is a breath-hold state.
In this embodiment, the respiratory state of the human body is determined according to the position data of the tracking marker placed on the human body, so as to display the corresponding respiratory curve. The preset threshold value can be adjusted according to the acquired patient information, so that suitability for each patient can be achieved, for example, difference exists between the breathing degree of children and adults, and unified display can be achieved through adjustment of the preset threshold value.
In an exemplary embodiment, the method further comprises: determining a current respiration state of the human body according to the basic relative projection distance of the current position data, including: when the basic relative projection distance of the current position data is within a preset distance range, determining that the current respiration state of the human body is a normal respiration state; and when the basic relative projection distance of the current position data is not in the preset distance range, determining that the current breathing state of the human body is a special breathing state.
In this embodiment, the breathing state of some special situations of the human body, such as cough, movement, etc., is determined while fitting the breathing curve of the human body. In an exemplary embodiment, when the data in the special state exceeds the predetermined number, the above operation is re-performed, so that the characteristic state of human cough, movement, etc. of the fitted curve can be avoided.
In an exemplary embodiment, the data set of each marker ball includes: the serial number of each marking ball, the position of each marking ball corresponding to the data set, each marking ball, each position data and the position of each position data in the data set.
In an exemplary embodiment, before the acquiring the position information of the tracking marker located on the human body, the method further includes: displaying a preset respiratory motion curve;
and after fitting the breathing motion curve of the human body according to the acquired position information of the tracking marker, displaying the fitted breathing motion curve.
The preset respiratory motion curve is a respiratory motion curve preset in the system and is used for respiratory training of a patient. When the respiration training starts, the preset respiration motion curve is correspondingly displayed in a moving way according to the time change. Before the puncture operation starts, a doctor can train the respiration of a patient according to a preset respiratory motion curve. The doctor sees a preset breathing motion curve displayed on the screen to guide the patient to breathe along the preset breathing motion curve, and prompts the patient to exhale, inhale and hold breath. In patient respiratory training, tracking markers are placed on the patient in the area to be operated on, and the system begins to fit a respiratory motion curve based on the patient's breath and is displayed simultaneously on the screen. A doctor can clearly know the breathing state of a patient through the displayed preset breathing motion curve and the breathing motion curve fitted at the moment, and conduct guidance in time. The patient can clearly know the breathing state of the patient and timely perform breathing adjustment through the displayed preset breathing motion curve and the breathing motion curve fitted at the moment. When the optimal breathing position is reached, the puncture operation can be performed.
In one exemplary embodiment, the breath tracking method further comprises prompting a current breath amplitude and a target breath amplitude;
and when the current respiratory amplitude is consistent with the target respiratory amplitude, prompting that the surgical puncture is performed.
In one exemplary embodiment, a dynamic histogram is employed to hint at a current breath amplitude and a target breath amplitude. In this embodiment, a dynamic histogram is used to prompt the current respiratory amplitude and the target respiratory amplitude. The triangle marks in the histogram represent the current breath amplitude position, the triangle marks moving up and down with the breath amplitude. The red line in the histogram represents the target respiratory amplitude. The patient can adjust the respiration in time according to the change of the histogram. When the triangle mark arrow stays near above and below the red line, then it is indicated that the target breathing amplitude is reached. When the histogram turns emerald, the physician is prompted to make a surgical puncture. When the patient performs respiratory training, the patient can be helped to find the respiratory position needed to be reached during operation by prompting the current respiratory amplitude and the target respiratory amplitude. When the target breathing position is reached, the puncture operation can be performed, and the operation precision is ensured.
In an exemplary embodiment, the respiration tracking method further comprises prompting a respiration state of the human body corresponding to the fitted respiration motion curve. The fitted respiratory motion curve, the preset respiratory motion curve, the current respiratory amplitude, the current target respiratory amplitude and the respiratory state of the human body are displayed by adopting a display screen and VR glasses, so that a doctor or a patient can watch conveniently. The breathing motion curve fitted and the preset breathing motion curve, the current breathing amplitude, the current target breathing amplitude, the breathing state and the like can be displayed by adopting a display screen or simultaneously displayed by the VR glasses. The display screen is adopted to display the information for guiding and operating by doctors, the VR glasses are adopted to display the information to patients, the patients can observe own breath-hold positions, and after the instructions of the doctors are heard, the breath of the patients is controlled, so that the current breath-hold positions are ensured to be consistent with the target positions.
The present application provides a breath tracking system for performing the breath tracking method according to any of the above embodiments, comprising: an identification device configured to identify positional information of a tracking marker placed on a human body; and the processing device is connected with the identification device and is used for acquiring the position information identified by the identification device and fitting a respiratory motion curve of the human body according to the acquired position information of the marker.
The respiratory tracking system of the embodiment recognizes the position data of the tracking rigid body following the human body movement through the recognition device, so that the human body respiratory curve can be accurately fitted, and the whole system has the advantages of simple structure, convenient operation and high accuracy.
In an exemplary embodiment, the identification device is an image capturing device and the processing device is a computer device. The position change of the tracking marker can be accurately captured by arranging the image pickup device.
In an exemplary embodiment, the respiratory tracking system further comprises a display device, connected to the processing device, arranged to display the respiratory motion profile. For manipulation and viewing by the patient.
In one exemplary embodiment, the display device is VR glasses. Because the patient is generally lying down, the patient can conveniently watch through the VR glasses.
In an exemplary embodiment, the respiratory tracking system further comprises a tracking marker, wherein the tracking marker comprises at least three marker balls which are not positioned on the same straight line, and the side lengths of the patterns formed by connecting the at least three marker balls are not equal; the identification means is arranged to identify the position information of the marker ball. The structural design of the tracking marker can prevent the identification error of the identification device and reduce the operation requirement on an operator.
In an exemplary embodiment, the respiratory tracking system further comprises a reference marker, the identifying means being arranged to identify position information of the reference marker; the identification means is arranged to fit a respiratory motion curve of the human body based on the acquired position information of the tracking marker and the reference marker object. The reference marker can facilitate the normalization processing of data in the process of fitting the breathing curve.
The embodiment of the application also provides a breath tracking device, which comprises a processor and a memory, wherein the memory stores a program for breath tracking; the processor is configured to read the program for breath tracking, and perform the method according to any of the above embodiments.
The embodiment of the present application also provides a computer storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method according to any of the above embodiments.
Compared with the related art, the breath tracking method, device and system and the computer storage medium can accurately and rapidly realize the breath tracking of a patient by utilizing the tracking markers placed on the human body to realize fitting of the human body breath motion curve.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide an understanding of the principles of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the principles of the application.
FIG. 1 is a flow chart of a fitting human respiratory motion curve of a respiratory tracking method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a respiratory tracking system according to an embodiment of the present application;
FIG. 3 is a perspective view of a tracking marker of a respiratory tracking system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a tracking marker and identification device of a respiratory tracking system according to an embodiment of the present application;
FIG. 5 is a schematic illustration of a fitted human respiratory motion curve of a respiratory tracking method according to an embodiment of the present application;
FIG. 6 is a flow chart of a method for respiratory tracking according to an embodiment of the present application for determining respiratory status of a human body;
FIG. 7 is a bar graph illustration of breath training for a breath tracking method of an embodiment of the present application;
fig. 8 is a schematic diagram of the current position of a fitting straight line during fitting a human respiratory motion curve of a respiratory tracking method according to an embodiment of the present application.
Detailed Description
The present application has been described in terms of several embodiments, but the description is illustrative and not restrictive, and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the described embodiments. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or in place of any other feature or element of any other embodiment unless specifically limited.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The disclosed embodiments, features and elements of the present application may also be combined with any conventional features or elements to form a unique inventive arrangement as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined in the claims. It is therefore to be understood that any of the features shown and/or discussed in the present application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be restricted except in light of the attached claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.
Furthermore, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
As shown in fig. 1, the embodiment of the present application provides a breath tracking method, which includes the following operations:
s1, acquiring position information of a tracking marker 1 positioned on a human body;
s2, fitting a respiratory motion curve of the human body according to the acquired position information of the marker.
According to the respiratory tracking method provided by the embodiment of the application, the respiratory motion curve of the human body is fitted by utilizing the tracking marker 1 placed on the human body, so that the respiratory tracking of the patient can be accurately and quickly realized.
As shown in fig. 2 to 4, the tracking marker 1 according to the embodiment of the present application refers to a rigid object placed on the human body a, and is capable of following the respiratory movement of the human body as a whole. The tracking tag 1 is provided with a number of reflective markers 11 which can be identified by the identification means 200.
The reflective marker 11 in this embodiment is a reflective or specular marker ball, which can be recognized by the recognition device 200 and obtain spatial position data.
The recognition device 200 may employ a binocular camera, where the binocular camera determines the spatial position data of the marker ball by the reflected light of the marker ball.
As shown in fig. 3-4, in an exemplary embodiment, the tracking marker 1 includes a base 10, and at least three marker balls 11 disposed on the base 10 and not on the same straight line, and the side lengths of the patterns formed by connecting the at least three marker balls 11 are not equal.
The marking ball 11 is designed as a mirror surface, and can reflect light, which can be recognized by the recognition device. The central axis of the exposed portion of the marking ball 11 forms an angle a with the plane of the bottom of the base 10 in the following range: 20 deg. to 60 deg.. The formed included angle a can reflect enough light to the position of the identification device 200, which is beneficial to the rapid tracking of the identification device 200.
The tracking marker 1 according to the embodiment of the present application is provided with at least three marker balls 11 which are not located on the same straight line, so that the recognition device 200 can recognize the position thereof conveniently, thereby simulating the respiratory motion curve of the area where the tracking marker 1 is located.
Since the tracking marker 1 is placed on the human body, the position of each marker ball 11 on the human body is uncertain, and if two sides of the polygonal graph formed by connecting at least three marker balls 11 are equal, the recognition device can easily fail to recognize the position direction, so that the position of the marker ball 11 in the area where the tracking marker 1 is located is erroneously recognized, or the placement requirement of an operator is increased. Therefore, the side lengths of the polygonal graph formed by connecting at least three markers 2 arranged on the tracking marker 1 are unequal, so that the identification device can conveniently and accurately identify the polygonal graph without being fixed at a specific position, and the requirements on operators are reduced.
According to the breath tracking method provided by the embodiment of the application, the tracking marker 1 placed at the specific position of the human body is utilized, the tracking marker 1 moves along with breath in the breath process of the human body, so that the position change occurs, and the breath movement curve of the human body can be simulated by acquiring the position information of the tracking marker 1 at different moments, so that the simulation precision is higher. The specific position is generally the chest and abdomen position of the affected area of the human body, and the position is changed along with breathing. The position is generally the part of the human body which needs to be subjected to operation treatment, such as puncture operation and the like.
In an exemplary embodiment, the "fitting the respiratory motion curve of the human body according to the acquired position information of the marker" in operation S2 includes the following operations:
s21, determining the current respiratory amplitude of the human body according to the acquired position information of the tracking marker 1;
s22, fitting a respiratory motion curve of the human body according to the determined respiratory amplitude of the current human body.
As shown in fig. 5, the respiratory motion curve in the implementation of the present application is a two-dimensional graph, the abscissa represents time, and the ordinate represents respiratory amplitude at the current time. The embodiment of the application displays the current respiration degree, the respiration frequency and the like of the human body through the respiration amplitude. The breathing amplitude values at a plurality of moments are fit to the breathing motion curve of the human body. Wherein the breathing amplitude is determined by the position information of the tracking marker 1.
In an exemplary embodiment, the "fitting the respiratory motion curve of the human body according to the determined respiratory amplitude of the current human body" in operation S22 includes the following operations:
s23, collecting a data set of each marking ball on the tracking marker 1 in a preset period;
s24, determining the current displacement of each marking ball according to the collected data set; the current displacement comprises a current respiratory displacement, a current maximum respiratory displacement and a current minimum respiratory displacement;
s25, determining the breathing amplitude of the current human body according to the determined current displacement of each marking ball.
Wherein the data set for each marker ball comprises: a serial number of each marking ball, a position of each marking ball corresponding to the data set, each position data of each marking ball and a position of each position data in the data set, and the like.
Since the breathing amplitude is related to the position change of the tracking marker 1 on the human body, the degree of the current position change of the tracking marker 1 is determined, and the breathing amplitude can be obtained. The current displacement is used in this embodiment to represent the current degree of change in position.
The dataset is in this embodiment a container for storing the acquired data, the container being located in a computer storage. If new data is placed, the new data is stored in the forefront of the data set. The size of the data set is limited, and if the limited size is exceeded, the oldest data is discarded and the newest data is placed in the forefront of the data set according to the first-in first-out principle.
In one exemplary embodiment, the predetermined period segment may be selected from 4-6 periods. Data is collected for each marker ball, each marker ball having a corresponding data set, and the data for each marker ball is placed in the corresponding data set. When the acquired data volume of the marker ball is larger than the number of 4 to 6 breathing cycles, the data volume in the data set corresponding to the marker ball can meet the calculation requirement, and if the data in the data set is not full, the next calculation can not be performed.
According to the embodiment of the application, the data of the marker ball preset period section on the tracking marker 1 is selected to participate in calculation, so that the problem of false identification in actual detection can be avoided.
In one exemplary embodiment, "determining the breathing amplitude of the current human body according to the determined current displacement of each marker ball" in operation S25 includes the operations of:
s251, fitting a basic space straight line according to the continuous preset number of position data in the collected data set of each marking ball;
s252, determining projection points of each position data in the data set corresponding to each marking ball on a straight line of a basic space, and defining the projection points as basic projection points of each position data; determining a projection point of the reference position point in a basic space straight line, and defining a basic reference projection point of the reference position point;
S253, according to the determined basic projection points of each position data and the basic reference projection points of the reference position points, obtaining the distance between the basic projection points of each position data and the basic reference projection points of the reference position points, and positioning the distance as the relative projection distance of each position data;
s254, determining the current displacement of each marking ball according to the obtained relative projection distance of each position data.
Since the position data of each marker ball on the tracking marker is three-dimensional space data, three-dimensional data is converted into one-dimensional data by fitting a basic space straight line on which a predetermined number of position data of each marker ball is projected continuously. Wherein the basis space straight line is a straight line closest to each of the predetermined number of position data.
According to the embodiment of the application, the relative projection distance of each position data is obtained by setting the basic reference projection point of the reference position point, so that normalization calculation can be performed.
In an exemplary embodiment, the reference location point is a predetermined set location point.
In another exemplary embodiment, as shown in fig. 2, the reference position point is a position point of a marking ball (not shown) on the reference marker 2 recognized by the recognition device 200, and the reference marker 2 is fixed at a specific position on the treatment couch.
In one exemplary embodiment, the "determining the current displacement of each marker ball according to the obtained relative projection distance" described in operation S254 includes the operations of:
s2541, determining the distance between the projection point of the current position data on the basic space straight line and the projection point of the reference position point on the basic space straight line, and defining the distance as the basic relative projection distance of the current position data;
s2542, judging whether the basic relative projection distance of the current position data is within a preset distance range;
s2543, fitting a current space straight line according to a continuous preset number of position data in the data set of each marking ball when the distance is within a preset distance range, wherein the data of the preset data comprise the current position data of each marking ball;
the current respiratory displacement is: the projection point of the current position data on the current space straight line is distant from the projection point of the reference position point on the current fitting straight line;
the current maximum respiratory displacement is: the maximum distance from the projection point on the current fitting straight line to the reference position point in the projection points on the current fitting straight line in all data in the data set;
the current minimum respiratory displacement is: the minimum distance from the projection point of the reference position point on the current fitting straight line is the minimum distance from the projection point of the current fitting straight line in all data in the data set.
The current spatial straight line is the straight line closest to each position data in the corresponding continuous predetermined number of data (refer to fig. 8).
S2543, when not within the predetermined distance range, the current respiratory displacement is: the distance between the projection point of the current position data on the basic space straight line and the projection point of the reference position point on the basic space straight line;
the current maximum respiratory displacement is: the maximum base relative projection distance of the base relative projection distances of all the data in the dataset;
the current minimum respiratory displacement is: the minimum base relative projection distance among the base relative projection distances of all the data in the dataset. In an exemplary embodiment, the predetermined distance range is determined according to a smallest basic relative projection distance among basic relative projection distances of all data and a largest basic relative projection distance among basic relative projection distances of all data.
In an exemplary embodiment, the predetermined distance range is greater than or equal to a minimum base relative projection distance of the base relative projection distances of all the data, and less than or equal to a maximum base relative projection distance of the base relative projection distances of all the data.
In an exemplary embodiment, the above method further comprises the operations of:
s2544, when the basic relative projection distance of the current position data is within a preset distance range, taking the current space straight line as the basic space straight line of the data at the next moment;
and S2545, when the basic relative projection distance of the current position data is not in the preset distance range, taking the basic space straight line as the basic space straight line of the data at the next moment.
For example, assuming that a predetermined number of consecutive data is 0-250, a base space line is fitted, and the relative projection distance of each position data in the 0-250 data has the largest relative projection distance and the smallest relative projection distance. The relative projection distance of the 251 st point of the current position data on the basis space straight line is defined as the basis relative projection distance of the current position data.
When the basic relative projection distance value of the current position data is in the minimum basic relative projection distance and the maximum basic relative projection distance range, the basic relative projection distance of the front data is considered to be in the limit range, and the human body is in a normal breathing state. At this time, 1-251 pieces of continuous preset number of position data are selected again, a new space straight line-the current space straight line is fitted, all data and reference position points are projected on the current space straight line, and the current respiratory displacement, the current maximum respiratory displacement and the current minimum respiratory displacement are determined. At this time, the currently fitted spatial line is then used as the basis spatial line for the next data, i.e., the 252 th data.
When the basic relative projection distance of the current position data is out of the minimum basic relative projection distance and the maximum basic relative projection distance, the basic relative projection distance of the front data is not in the limit range, and the human body is considered to be in an abnormal breathing state (the breathing amplitude of the state is larger and larger). The current respiratory displacement of the 251 st data of the current position data is the relative projection distance projected on the basis space line. The base space line at the previous time is still the base space line of the next data, i.e., 252 th data. In one exemplary embodiment, the method of fitting a spatial line using the acquired continuous predetermined number of data is as follows:
first, a spatial straight line L is fitted by least square method with the data in each marker ball data set i The straight line is expressed by the equation as follows:
wherein x represents x of a space linear equation; x0 represents the value of X of the data point through which the line passes; y represents x of a space linear equation; y0 represents the value of Y for the data point through which the line passes; m, N represents the direction vector; z represents z of the spatial linear equation.
Then, the projection point of each position data on the spatial straight line is determined: assuming that the spatial position of the data O is represented by coordinate values of O (x), O (y), and O (z), the equation for calculating the projection point OProjection of the data O on a straight line is as follows:
OProjection(x)＝k*M+X 0
OProjection(y)＝k*N+Y 0
OProjection(z)＝k*1+0
Wherein the calculation formula of the slope k is as follows:
according to the above calculation formula, calculating the fitting straight line L of each position data in each marker ball corresponding data set i Projection points on the plane, which are marked as project ij The method comprises the steps of carrying out a first treatment on the surface of the Simultaneously calculating reference position data Refer in a fitting straight line L i A projection point on the plane, which is marked as Reference i 。
Calculating the project ij And Reference project i The distance between them is recorded as Dist (i) j The calculation formula is as follows:
the maximum value and the minimum value of the distance are calculated, wherein the maximum value is marked as MaxDIst (i), and the minimum value is marked as MinDist (i).
The same as the previous calculation method, the current (latest) data is calculatedIn a fitting straight line L i Projection points on and Referejections i The distance between them is denoted as Dist (i) new . Judging Dist (i) new Corresponding "limit markers", if Dist (i) new Between MinDist (i) and MaxDIst (i), the label is "in-bound" and "InRange"; if the calculated distance of the current position data is out of the statistical maximum and minimum distance range, the calculated distance is marked as 'out of range', and is marked as 'out range'.
Next, a current breathing amplitude of the human body is determined based on the determined current displacement of each marker ball. Calculating the amplitude corresponding to the current (latest) data of each marking ball, wherein the amplitude is recorded as Amp (i) new The calculation formula is as follows:
Amp(i) new ＝Dist(i) new -MinDist(i)
this step calculation ensures that the final breathing amplitude is displayed within a range of values, for example between 0 and 1, so as to be suitable for each patient.
Then, the current respiratory amplitude of the patient is calculated, the current respiratory amplitude is Phase, and the calculation formula is as follows:
the final breath amplitude is Phase, and the breath amplitude is normalized through the calculation, so that people can clearly display the breath with different breath amplitudes.
The breath tracking method of the embodiment of the present application further includes the following operation S3: determining a current respiration state of the human body according to the basic relative projection distance of the current position data, including:
when the basic relative projection distance of the current position data is within a preset distance range, determining that the current respiration state of the human body is a normal respiration state;
and when the basic relative projection distance of the current position data is within a preset distance range, determining that the current breathing state of the human body is a special breathing state.
The method comprises the steps of judging whether the current respiratory state is in a normal respiratory state or a special respiratory state for judgment, facilitating subsequent limit calculation, and if the current respiratory state is in the normal respiratory state, participating in calculation;
Next, in the above example, a predetermined number of position data are selected, the "limit mark" corresponding to the data is counted, and the current respiration state is determined according to the above method, and the determination method is as follows:
if the number of marked 'in-boundary' is equal to the total number of marked balls, the current breathing state is a common breathing state; if the number marked as "out of bounds" is equal to the total number of marked balls, the current respiratory state is a special respiratory state.
The breath tracking method of the embodiment of the present application further includes operation S4: operations S1-S3 are re-performed when the data in the special state exceeds the predetermined number.
Next, in the above example, when the number marked as "out of bounds" exceeds a predetermined number, it is determined that the human body is not in a breathing state, and the predetermined amount of position data is acquired again to draw a breathing track curve.
According to the respiratory tracking method provided by the embodiment of the application, the respiratory motion curve of the human body is fitted by utilizing the tracking marker 1 placed on the human body, so that the respiratory tracking of the patient can be accurately and quickly realized. In addition, the position change of a plurality of marking balls on the marker 1 is used for fitting the breathing motion curve of the human body, so that the fault tolerance rate is high.
As shown in fig. 6, the breath tracking method according to the embodiment of the present application further includes the following operations:
S5, collecting a data set of each marking ball in a predetermined period of the human body;
s6, determining the breathing state of the human body according to the continuous preset number of position data in the collected data set of each marking ball; wherein, the breathing state of the human body comprises a fluctuation state and a breath-hold state.
In one exemplary embodiment, the "determining the breathing state of the human body from the continuous predetermined number of position data in the collected data set of each marker ball" described in operation S6 includes:
s61, determining an average value of the preset number of position data of all the marked balls, a difference value between each position data and the average value, and a mean value of the difference values or a standard deviation of the difference values; the standard deviation of the difference value is obtained according to the difference value and the average value of the difference value;
s62, when the difference mean value or the difference standard deviation of the preset number of position data of at least one marking ball is larger than a preset threshold value, determining that the breathing state of the human body is a fluctuation state;
and S63, when the difference mean value or the difference standard deviation of the preset number of position data of at least one marker ball is smaller than or equal to a preset threshold value, determining that the breathing state of the human body is a breath-hold state.
For example, the tracking marker is composed of X marker balls, the number of the marker balls is denoted as i, and the position data in the corresponding data set is denoted as P i . Taking a preset number of latest position data from the data set corresponding to each marking ball for calculation, wherein the preset number is marked as m, the serial number of the position data is marked as j, and each position data of the marking ball is marked asThe data taken were averaged and noted as Mean (P i ) The formula is as follows:
then, the difference between the m data obtained from the data set of each marker ball in the previous step and the average value is calculated, and the difference is recorded asThe formula is as follows:
then, the average value of the difference in the previous step is calculated and recorded as Aver (D i ) The formula is as follows:
next, the standard deviation of the difference is calculated and denoted as S (D i ) The formula is as follows:
finally, judging the breathing state, wherein the judging method comprises the following steps: analyzing the calculation result of the previous step, if there is a difference average value Aver (D i ) Or standard deviation of difference S (D i ) If the set threshold is exceeded, the state is judged to be a rolling state, otherwise, the state of breath-hold is considered. The predetermined threshold may be adjusted based on the acquired patient information to achieve a fit for each patient.
The breath tracking method according to the embodiment of the present application further includes, before operation S1, operation S7: displaying a preset respiratory motion curve; after operation S1, operation S8 is further included: displaying the fitted respiratory motion curve;
The preset respiratory motion curve is a respiratory motion curve preset in the system and is used for respiratory training of a patient. When the respiration training starts, the preset respiration motion curve is correspondingly displayed in a moving way according to the time change. Before the puncture operation starts, a doctor can train the respiration of a patient according to a preset respiratory motion curve. The doctor sees a preset breathing motion curve displayed on the screen to guide the patient to breathe along the preset breathing motion curve, and prompts the patient to exhale, inhale and hold breath. In patient respiratory training, tracking markers are placed on the patient in the area to be operated on, and the system begins to fit a respiratory motion curve based on the patient's breath and is displayed simultaneously on the screen. A doctor can clearly know the breathing state of a patient through the displayed preset breathing motion curve and the breathing motion curve fitted at the moment, and conduct guidance in time. The patient can clearly know the breathing state of the patient and timely perform breathing adjustment through the displayed preset breathing motion curve and the breathing motion curve fitted at the moment. When the optimal breathing position is reached, the puncture operation can be performed.
According to the breath tracking method, the quantification and visualization of the breath of the patient and the control of the operation are realized by displaying the preset breath motion curve and the fitted breath motion curve.
The breath tracking of the embodiment of the present application further includes a method operation S9: prompting the current respiratory amplitude and the target respiratory amplitude; and when the current respiratory amplitude is consistent with the target respiratory amplitude, prompting that the surgical puncture is performed.
As shown in fig. 7, a dynamic histogram is used in this embodiment to suggest a current breath amplitude and a target breath amplitude. The triangle marks in the histogram represent the current breath amplitude position, the triangle marks moving up and down with the breath amplitude. The red line in the histogram represents the target respiratory amplitude. The patient can adjust the respiration in time according to the change of the histogram. When the triangle mark arrow stays near above and below the red line, then it is indicated that the target breathing amplitude is reached. When the histogram turns emerald, the physician is prompted to make a surgical puncture.
When the patient performs respiratory training, the patient can be helped to find the respiratory position needed to be reached during operation by prompting the current respiratory amplitude and the target respiratory amplitude. When the target breathing position is reached, the puncture operation can be performed, and the operation precision is ensured.
The breath tracking according to the embodiment of the present application further includes a method operation S10 of prompting the breathing state of the human body corresponding to the fitted breathing motion curve. Respiratory conditions include inhalation, exhalation, breath-hold, etc., and the display of the respiratory conditions can help doctors and patients to perform respiratory training.
In an exemplary embodiment, the display screen may be used for displaying, or the fitted breathing motion curve and the preset breathing motion curve, the current breathing amplitude and the current target breathing amplitude, the breathing state, etc. may be displayed simultaneously with the VR glasses of the display screen. The display screen is adopted to display the information for guiding and operating by doctors, the VR glasses are adopted to display the information to patients, the patients can observe own breath-hold positions, and after the instructions of the doctors are heard, the breath of the patients is controlled, so that the current breath-hold positions are ensured to be consistent with the target positions.
The target respiratory amplitude is a preset respiratory amplitude, corresponds to the respiratory position of the patient in CT image shooting, is also the position of surgical puncture, and generally selects the breath-holding position as the target respiratory amplitude.
In one embodiment, the target breathing amplitude may be set according to the patient's condition, and since each patient has different breathing conditions, such as different breathing conditions for children, elderly people, women, men, the target breathing amplitude is set according to the patient's condition, so as to achieve more operation accuracy.
In another embodiment, during the breath training, the system may also determine the most recent target breath amplitude based on multiple breath training of the patient.
As shown in fig. 2, a respiratory tracking system according to an embodiment of the present application, for performing the respiratory tracking direction of any of the above embodiments, includes:
an identification device 200 arranged to identify positional information of the tracking marker 1 on the human body;
the processing device 300 is connected to the recognition device 200 and is configured to acquire the position information recognized by the recognition device 200 and fit the breathing motion curve of the human body according to the acquired position information.
In an exemplary embodiment, the recognition apparatus 200 is a binocular camera apparatus and the processing apparatus is a computer device.
The respiratory tracking system according to the embodiment of the application further comprises a display device 400, the display device 400 being connected to the processing device 300 and arranged to display the respiratory motion profile.
In one exemplary embodiment, the display device 300 is VR glasses.
In an exemplary embodiment, the respiratory tracking system according to the embodiments of the present application further comprises a tracking marker 1, and the structure of the tracking marker 1 may refer to any of the above embodiments.
The breath tracking system of an embodiment of the application further comprises a reference marker 2, the identification means 200 being arranged to identify the position information of the reference marker 2. The position information of the reference marker 2 is the position information of the reference point in the respiration tracking method. The recognition device 200 fits a human respiratory motion curve based on the positional information of the tracking marker 1 and the reference marker 2.
The system disclosed by the application is based on a binocular camera to track the tracking marker 1 along with respiratory motion, fits a respiratory motion curve and displays the respiratory motion curve to an operator. In particular, the breathing motion curve is projected to the patient for viewing through the VR glasses, thereby allowing the patient to control his breathing motion. And can guide the patient to keep the position of the front and rear breath-holds relatively consistent.
The respiratory tracking system provided by the embodiment of the application can accurately and rapidly realize respiratory tracking of a patient, and can be simultaneously presented to doctors and patients in a VR (virtual reality) glasses mode, so that the patients can finish operations such as stable respiration, breath-hold and the like under the guidance of the system, and surgery can be better finished.
The following is a practical operation example for explaining the present application, and specifically includes the following operation steps:
the first step is to fit the breathing motion curve of the human body. The patient lies on the CT treatment couch, the respiratory tracking marker 1 is placed at the chest and abdomen of the patient, and the reference marker 2 is fixed on the couch plate while being observed by the binocular camera 200. Entering a breath tracking interface, clicking a start tracking button, collecting breath data of a patient in 2 to 4 periods, displaying a breath motion curve of the patient on an operation interface, and carrying out normalization processing to clearly display breath with different breath amplitudes, so that the breath is analyzed in four breath states, and the breath motion curve is accurately displayed. The four breathing states can prompt smooth breathing relief and breath-hold, and then distinguish the breathing relief and breath-hold in the special state.
The operator can let the patient adjust breathing through the breathing motion curve on the operation interface, and the patient can also observe own breathing motion curve through VR synchronization to keep a stable breathing.
And a second step, carrying out respiration training. After the respiratory motion curve of the patient is displayed on the screen, clicking to start training for respiratory training. The operation interface displays a red waveform (different frequencies can be selected), and patients with different sexes and different physical states provide three breathing motion curves with different frequencies according to different ages. The patient is provided with a waveform prompt and a voice prompt to adjust the breathing through the text prompt. The purpose of respiratory training is to address the clinically confusing condition of most patients.
The tension spirit of a patient can be relaxed through breathing training, and breathing can be regulated to be stable and regular, so that the position can be kept consistent and for a period of time when the breath-hold position is selected. Breath-hold position tracking allows the patient to maintain a proper target position (breath-hold position) when his breath is stable and regular, and the marker breath-hold position is selected.
The left bar graph appears triangle marks and moves up and down along with the breathing amplitude. The red line in the histogram represents the breathing amplitude at the target location. According to the breathing motion curve, breathing and breath-hold can be adjusted, and the triangular mark arrow stays near the upper and lower parts of the red line when breath-hold is performed again.
VR glasses simultaneously project the interface to the patient. The patient can observe own breath-hold position, and after hearing the instruction of the operator, the patient controls own breath to ensure that the current breath-hold position is consistent with the target position. When the respiration position (target position) of the patient is consistent with the respiration position (current position) of the operation puncture position when the CT image is shot, the histogram turns emerald, and a doctor is informed of the operation puncture, so that the accuracy of the operation puncture is improved. When the breathing position (target position) of the patient in CT image shooting is deviated from the breathing position (current position) in operation puncture position by a certain distance, the histogram prompts yellow, and informs the doctor that a certain deviation may exist in operation precision.
The respiratory tracking system provided by the embodiment of the application can quickly visualize the respiratory motion of the patient, and an operator can observe and guide the patient to perform respiratory training. The VR glasses are used for facilitating the patient to quickly adjust the breath, and reducing the fear of the patient to the operation. And the breath-hold position deviation is visualized, so that the operation precision is improved.
The embodiment of the application also provides a breath tracking device, which comprises a processor and a memory, and is characterized in that a program for breath tracking is stored in the memory; the processor is configured to read the program for breath tracking, and execute the breath tracking method according to any of the above embodiments.
The embodiment of the application also provides a computer storage medium, on which a computer program is stored, which is characterized in that the computer program, when being executed by a processor, realizes the implementation of the breath tracking method according to any of the above embodiments.
In the description of embodiments of the present application, unless explicitly stated and limited otherwise, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," "assembled" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the terms "mounted," "connected," and "fixedly connected" may be directly connected or indirectly connected through intervening media, and may also be in communication between two elements. It will be understood by those of ordinary skill in the art that the specific meaning of the terms described above in this application
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

Claims (26)

1. A method of breath tracking, comprising:
acquiring position information of a tracking marker positioned on a human body;
fitting a respiratory motion curve of the human body according to the acquired position information of the tracking marker.
2. The method of claim 1, wherein fitting a respiratory motion curve of the human body based on the acquired marker position information comprises:
determining the current respiratory amplitude of the human body according to the acquired position information of the marker;
fitting a respiratory motion curve of the human body according to the determined respiratory amplitude of the current human body.
3. The method of breath tracking according to claim 2, wherein said determining the current breath amplitude of the human body based on the acquired marker location information comprises:
collecting a data set of each marker sphere on the marker over a predetermined period;
determining a current displacement of each marker ball from the collected data set; the current displacement comprises a current respiratory displacement, a current maximum respiratory displacement and a current minimum respiratory displacement;
and determining the breathing amplitude of the current human body according to the determined current displacement of each marking ball.
4. A breath tracking method according to claim 3, wherein said determining the current displacement of each marker sphere from the collected data set of each marker sphere comprises:
fitting a base spatial line based on a predetermined number of consecutive position data in the collected data set for each marker ball;
determining projection points of each position data in the corresponding data set of each marking ball on the straight line of the basic space, and defining the projection points as basic projection points of each position data; determining a projection point of the reference position point on the straight line of the basic space, and defining a basic reference projection point of the reference position point;
according to the determined basic projection points of each position data and basic reference projection points of the reference position points, obtaining the distance between the basic projection points of each position data and the basic reference projection points of the reference position points, and positioning the distance as the relative projection distance of each position data;
and determining the current displacement of each marking ball according to the obtained relative projection distance of each position data.
5. The method of breath tracking according to claim 4, wherein said determining the current displacement of each marker sphere based on the relative projected distance of each of the obtained position data comprises:
Determining a projection point of the current position data on a basic space straight line, and defining the distance from the projection point of the reference position point on the basic space straight line as a basic relative projection distance of the current position data;
judging whether the basic relative projection distance of the current position data is within a preset distance range or not;
fitting a current spatial straight line according to a predetermined number of continuous position data in the data set of each marker ball when the distance is within the predetermined distance range; the predetermined number of position data includes current position data of each marker ball; the current respiratory displacement is: the projection point of the current position data on the current space straight line is distant from the projection point of the reference position point on the current fitting straight line; the current maximum respiratory displacement is: the maximum distance from the reference position point in the distance of the projection point on the current fitting straight line in all the data in the data set; the current minimum respiratory displacement is: the minimum distance from the projection point of the reference position point to the projection point on the current fitting straight line in all data in the data set;
when not within the predetermined distance range, the current respiratory displacement is: the projection point of the current position data on the basic space straight line is distant from the projection point of the reference position point on the basic space straight line; the current maximum respiratory displacement is: the maximum base relative projection distance among the base relative projection distances of all the data; the current minimum respiratory displacement is: the minimum base relative projection distance among the base relative projection distances of all the data.
6. The method of breath tracking according to claim 5, further comprising:
when the basic relative projection distance of the current position data is within a preset distance range, taking the current space straight line as a basic space straight line of the data at the next moment;
and when the basic relative projection distance of the current position data is not in the preset distance range, taking the basic space straight line as the basic space straight line of the data at the next moment.
7. The method of respiratory tracking according to claim 5, wherein the predetermined distance range is determined based on a smallest of the base relative projection distances of all the data and a largest of the base relative projection distances of all the data.
8. The respiratory tracking method of claim 7, wherein the predetermined distance range is greater than or equal to a minimum base relative projection distance of the base relative projection distances of all the data and less than or equal to a maximum base relative projection distance of the base relative projection distances of all the data.
9. The method of claim 5, wherein the base spatial line and the current spatial line are lines closest to each of the corresponding consecutive predetermined number of data.
10. The method of breath tracking according to claim 1, wherein the method further comprises:
collecting a data set of each marking ball in a predetermined period of the human body;
determining a respiration state of the human body based on a predetermined number of position data in succession in the collected data set for each marker ball; the respiratory state includes a rolling state and a breath-hold state.
11. The method of breath tracking according to claim 10, wherein said determining the breathing state of the human body from a continuous predetermined number of position data in the collected data set for each marker ball comprises:
determining an average value of the predetermined number of position data of all the marker balls, a difference value between each position data and the average value, and a mean value of the difference values or a standard deviation of the difference values; the standard deviation of the difference value is obtained according to the difference value and the average value of the difference value;
when the difference mean value or the difference standard deviation of the preset number of position data of at least one marking ball is larger than a preset threshold value, determining that the breathing state of the human body is a fluctuation state;
and when the difference mean value or the difference standard deviation of the preset number of position data of at least one marking ball is smaller than or equal to a preset threshold value, determining that the breathing state of the human body is a breath-hold state.
12. The method of breath tracking according to claim 5, further comprising: determining a current respiration state of the human body according to the basic relative projection distance of the current position data, including:
when the basic relative projection distance of the current position data is within a preset distance range, determining that the current respiration state of the human body is a normal respiration state;
and when the basic relative projection distance of the current position data is within a preset distance range, determining that the current breathing state of the human body is a special breathing state.
13. The method of breath tracking according to claim 12, wherein the operations of claims 1 to 12 are re-performed when the data in the special state exceeds a predetermined amount.
14. The breath tracking method according to claim 3 or 9, wherein the data set of each marker ball comprises: the serial number of each marking ball, the position of each marking ball corresponding to the data set, each marking ball, each position data and the position of each position data in the data set.
15. A method of breath tracking according to any of claims 1-13,
before the position information of the tracking marker on the human body is acquired, the method further comprises: displaying a preset respiratory motion curve;
And after fitting the breathing motion curve of the human body according to the acquired position information of the tracking marker, displaying the fitted breathing motion curve.
16. The method of breath tracking according to claim 15, further comprising:
prompting the current respiratory amplitude and the target respiratory amplitude;
and when the current respiratory amplitude is consistent with the target respiratory amplitude, prompting that the surgical puncture is performed.
17. The method of breath tracking according to claim 16, wherein the current breath amplitude and the target breath amplitude are prompted using a dynamic histogram.
18. The method of breath tracking according to claim 17, further comprising: prompting the breathing state of the human body corresponding to the fitted breathing motion curve.
19. The method of claim 18, wherein the fitted breathing motion profile and the preset breathing motion profile, the current breathing amplitude and the current target breathing amplitude, and the breathing status of the human body are displayed using a display screen and VR glasses.
20. A breath tracking system for performing the breath tracking method of any of claims 1-19, comprising:
An identification device configured to identify positional information of a tracking marker placed on a human body;
and the processing device is connected with the identification device and is used for acquiring the position information identified by the identification device and fitting a respiratory motion curve of the human body according to the acquired position information of the marker.
21. The respiratory tracking system of claim 20, wherein the identification device is a camera device and the processing device is a computer device.
22. The respiratory tracking system of claim 20, further comprising a display device coupled to the processing device configured to display the respiratory motion profile; the display device is VR glasses.
23. The respiratory tracking system of any one of claims 20-22, further comprising a tracking marker comprising at least three marker balls that are not on the same line and wherein the at least three marker balls are connected to form a pattern of unequal side lengths;
the identification means is arranged to identify the position information of the marker ball.
24. A respiratory tracking system according to any one of claims 20 to 22, further comprising a reference marker, the identifying means being arranged to identify positional information of the reference marker;
The identification means is arranged to fit a respiratory motion curve of the human body based on the acquired position information of the tracking marker and the reference marker object.
25. A breath tracking device comprising a processor and a memory, wherein the memory has stored therein a program for breath tracking; the processor is configured to read the program for breath tracking, perform the method of any of claims 1-19.
26. A computer storage medium having stored thereon a computer program, which when executed by a processor performs the method of any of claims 1-19.
CN202310104745.1A 2023-01-20 2023-01-20 Respiration tracking method, device, system and computer storage medium Pending CN116999185A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310104745.1A CN116999185A (en) 2023-01-20 2023-01-20 Respiration tracking method, device, system and computer storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310104745.1A CN116999185A (en) 2023-01-20 2023-01-20 Respiration tracking method, device, system and computer storage medium

Publications (1)

Publication Number Publication Date
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